void oms::SingleImageChain::setViewCut(const ossimDrect& rect, bool imageSpaceFlag)
{
if(!imageSpaceFlag)
{
const ossimProjection* proj = getViewProjection();
if(proj)
{
std::vector<ossimGpt> pointList(4);
proj->lineSampleToWorld(rect.ul(), pointList[0]);
proj->lineSampleToWorld(rect.ur(), pointList[1]);
proj->lineSampleToWorld(rect.lr(), pointList[2]);
proj->lineSampleToWorld(rect.ll(), pointList[3]);
setViewCut(pointList);
}
}
else
{
std::vector<ossimDpt> pointList(4);
pointList[0] = rect.ul();
pointList[1] = rect.ur();
pointList[2] = rect.lr();
pointList[3] = rect.ll();
theViewCutter->setEnableFlag(false);
theViewImageCutter->setEnableFlag(true);
theViewImageCutter->setPolygon(pointList);
theViewImageCutter->initialize();
ossimPropertyEvent evt(theViewImageCutter);
theViewImageCutter->propagateEventToOutputs(evt);
}
}
void FlagComponent::remove( int index ) {
// check if flag of required index exists
if ( index > pointList().size() - 1 ) {
return;
}
pointList().removeAt( index );
m_Epoch.removeAt( index );
m_FlagImages.removeAt( index );
m_Labels.removeAt( index );
m_LabelColors.removeAt( index );
// request SkyMap update
SkyMap::Instance()->forceUpdate();
}
void FlagComponent::saveToFile() {
/*
TODO: This is a really bad way of storing things. Adding one flag shouldn't
involve writing a new file/table every time. Needs fixing.
*/
KStarsData::Instance()->userdb()->EraseAllFlags();
for ( int i=0; i < size(); ++i ) {
KStarsData::Instance()->userdb()->AddFlag(QString::number( pointList().at( i )->ra0().Degrees() ),
QString::number( pointList().at( i )->dec0().Degrees() ),
epoch ( i ),
imageName( i ).replace( ' ', '_' ),
label( i ),
labelColor( i ).name());
}
}
void FlagComponent::updateFlag( int index, SkyPoint *flagPoint, QString epoch, QString image, QString label, QColor labelColor ) {
if ( index > pointList().size() -1 ) {
return;
}
delete pointList().at( index );
pointList().replace( index, flagPoint);
m_Epoch.replace( index, epoch );
for(int i = 0; i<m_Names.size(); i++ ) {
if( image == m_Names.at( i ) )
m_FlagImages.replace( index, i );
}
m_Labels.replace( index, label );
m_LabelColors.replace( index, labelColor );
}
void HorizonComponent::update( KSNumbers * )
{
if ( ! selected() )
return;
KStarsData *data = KStarsData::Instance();
foreach ( SkyPoint *p, pointList() ) {
p->HorizontalToEquatorial( data->lst(), data->geo()->lat() );
}
void oms::SingleImageChain::setViewCut(const ossimGrect& grect)
{
std::vector<ossimGpt> pointList(4);
pointList[0] = grect.ul();
pointList[1] = grect.ur();
pointList[2] = grect.lr();
pointList[3] = grect.ll();
setViewCut(pointList);
};
void oms::SingleImageChain::setImageCut(const ossimDrect& rect)
{
std::vector<ossimDpt> pointList(4);
pointList[0] = rect.ul();
pointList[1] = rect.ur();
pointList[2] = rect.lr();
pointList[3] = rect.ll();
setImageCut(pointList);
}
void FlagComponent::add( SkyPoint* flagPoint, QString epoch, QString image, QString label, QColor labelColor ) {
pointList().append( flagPoint );
m_Epoch.append( epoch );
for(int i = 0; i<m_Names.size(); i++ ) {
if( image == m_Names.at( i ) )
m_FlagImages.append( i );
}
m_Labels.append( label );
m_LabelColors.append( labelColor );
}
void AMBeamConfigurationWizard::addPoint(QPointF position)
{
int index = relativeId() - numberOfPoints()/2;
QPointF* newPoint;
if(topLeft_)
{
newPoint = (*pointList())[2*(index)];
connect(view(), SIGNAL(mouseMoved(QPointF)), this, SLOT(addPoint(QPointF)));
topLeft_ = !topLeft_;
}
else
{
newPoint = (*pointList())[2*(index) + 1];
}
*newPoint = mapPointToVideo(position);
emit showShape(index);
}
void SVGPolygonElement::toPathData(Path& path) const
{
ASSERT(path.isEmpty());
SVGPointList& points = pointList();
if (points.isEmpty())
return;
path.moveTo(points.first());
unsigned size = points.size();
for (unsigned i = 1; i < size; ++i)
path.addLineTo(points.at(i));
path.closeSubpath();
}
HorizonComponent::HorizonComponent(SkyComposite *parent )
: PointListComponent( parent )
{
KStarsData *data = KStarsData::Instance();
emitProgressText( i18n("Creating horizon" ) );
//Define Horizon
for ( unsigned int i=0; i<NCIRCLE; ++i ) {
SkyPoint *o = new SkyPoint();
o->setAz( i*360./NCIRCLE );
o->setAlt( 0.0 );
o->HorizontalToEquatorial( data->lst(), data->geo()->lat() );
pointList().append( o );
}
}
void FlagComponent::loadFromFile() {
bool imageFound = false;
QList<QStringList> flagList=KStarsData::Instance()->userdb()->ReturnAllFlags();
for (int i=0; i<flagList.size(); ++i){
QStringList flagEntry = flagList.at(i);
// Read coordinates
dms r( flagEntry.at( 0 ) );
dms d( flagEntry.at( 1 ) );
SkyPoint* flagPoint = new SkyPoint( r, d );
pointList().append( flagPoint );
// Read epoch
m_Epoch.append( flagEntry.at( 2 ) );
// Read image name
QString str = flagEntry.at( 3 );
str = str.replace( '_', ' ');
for(int i = 0; i < m_Names.size(); ++i ) {
if ( str == m_Names.at( i ) ) {
m_FlagImages.append( i );
imageFound = true;
}
}
// If the image sprecified in db does not exist,
// use the default one
if ( ! imageFound )
m_FlagImages.append( 0 );
imageFound = false;
// If there is no label, use an empty string, red color and continue.
m_Labels.append(flagEntry.at(4));
// color label
QRegExp rxLabelColor( "^#[a-fA-F0-9]{6}$" );
if ( rxLabelColor.exactMatch( flagEntry.at(5) ) ) {
m_LabelColors.append( QColor( flagEntry.at(5) ) );
} else {
m_LabelColors.append( QColor( "red" ) );
}
}
}
void CSMTools::PathgridCheckStage::perform (int stage, CSMDoc::Messages& messages)
{
const CSMWorld::Record<CSMWorld::Pathgrid>& record = mPathgrids.getRecord (stage);
if (record.isDeleted())
return;
const CSMWorld::Pathgrid& pathgrid = record.get();
CSMWorld::UniversalId id (CSMWorld::UniversalId::Type_Pathgrid, pathgrid.mId);
// check the number of pathgrid points
if (pathgrid.mData.mS2 > static_cast<int>(pathgrid.mPoints.size()))
messages.push_back (std::make_pair (id, pathgrid.mId + " has less points than expected"));
else if (pathgrid.mData.mS2 > static_cast<int>(pathgrid.mPoints.size()))
messages.push_back (std::make_pair (id, pathgrid.mId + " has more points than expected"));
std::vector<Point> pointList(pathgrid.mPoints.size());
std::vector<int> duplList;
for (unsigned int i = 0; i < pathgrid.mEdges.size(); ++i)
{
if (pathgrid.mEdges[i].mV0 < static_cast<int>(pathgrid.mPoints.size()) && pathgrid.mEdges[i].mV0 >= 0)
{
pointList[pathgrid.mEdges[i].mV0].mConnectionNum++;
// first check for duplicate edges
unsigned int j = 0;
for (; j < pointList[pathgrid.mEdges[i].mV0].mOtherIndex.size(); ++j)
{
if (pointList[pathgrid.mEdges[i].mV0].mOtherIndex[j] == pathgrid.mEdges[i].mV1)
{
std::ostringstream ss;
ss << "has a duplicate edge between points" << pathgrid.mEdges[i].mV0
<< " and " << pathgrid.mEdges[i].mV1;
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
break;
}
}
// only add if not a duplicate
if (j == pointList[pathgrid.mEdges[i].mV0].mOtherIndex.size())
pointList[pathgrid.mEdges[i].mV0].mOtherIndex.push_back(pathgrid.mEdges[i].mV1);
}
else
{
std::ostringstream ss;
ss << " has an edge connecting a non-existent point " << pathgrid.mEdges[i].mV0;
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
}
}
for (unsigned int i = 0; i < pathgrid.mPoints.size(); ++i)
{
// check the connection number for each point matches the edge connections
if (pathgrid.mPoints[i].mConnectionNum > pointList[i].mConnectionNum)
{
std::ostringstream ss;
ss << " has has less edges than expected for point " << i;
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
}
else if (pathgrid.mPoints[i].mConnectionNum < pointList[i].mConnectionNum)
{
std::ostringstream ss;
ss << " has has more edges than expected for point " << i;
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
}
// check that edges are bidirectional
bool foundReverse = false;
for (unsigned int j = 0; j < pointList[i].mOtherIndex.size(); ++j)
{
for (unsigned int k = 0; k < pointList[pointList[i].mOtherIndex[j]].mOtherIndex.size(); ++k)
{
if (pointList[pointList[i].mOtherIndex[j]].mOtherIndex[k] == static_cast<int>(i))
{
foundReverse = true;
break;
}
}
if (!foundReverse)
{
std::ostringstream ss;
ss << " has a missing edge between points " << i << " and " << pointList[i].mOtherIndex[j];
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
}
}
// check duplicate points
// FIXME: how to do this efficiently?
for (unsigned int j = 0; j < pathgrid.mPoints.size(); ++j)
{
if (j == i)
continue;
if (pathgrid.mPoints[i].mX == pathgrid.mPoints[j].mX &&
pathgrid.mPoints[i].mY == pathgrid.mPoints[j].mY &&
pathgrid.mPoints[i].mZ == pathgrid.mPoints[j].mZ)
{
std::vector<int>::const_iterator it = find(duplList.begin(), duplList.end(), i);
if (it == duplList.end())
{
std::ostringstream ss;
ss << " has a duplicated point (" << i
<< ") x=" << pathgrid.mPoints[i].mX
<< ", y=" << pathgrid.mPoints[i].mY
<< ", z=" << pathgrid.mPoints[i].mZ;
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
duplList.push_back(i);
break;
}
}
}
}
// check pathgrid points that are not connected to anything
for (unsigned int i = 0; i < pointList.size(); ++i)
{
if (pointList[i].mConnectionNum == 0)
{
std::ostringstream ss;
ss << " has an orphaned point (" << i
<< ") x=" << pathgrid.mPoints[i].mX
<< ", y=" << pathgrid.mPoints[i].mY
<< ", z=" << pathgrid.mPoints[i].mZ;
messages.push_back (std::make_pair (id, pathgrid.mId + ss.str()));
}
}
// TODO: check whether there are disconnected graphs
}
void DepthVideoApp::AlignPointCloudList(int groupSize, bool isSubThread)
{
if (IsCommandAvaliable() == false)
{
return;
}
if (isSubThread)
{
mCommandType = CT_ALIGN_POINTCLOUD;
mGroupSize = groupSize;
DoCommand(true);
}
else
{
std::vector<std::string> fileNames;
char filterName[] = "ASC Files(*.asc)\0*.asc\0OBJ Files(*.obj)\0*.obj\0PLY Files(*.ply)\0*.ply\0Geometry++ Point Cloud(*.gpc)\0*.gpc\0";
if (MagicCore::ToolKit::MultiFileOpenDlg(fileNames, filterName))
{
int fileCount = fileNames.size();
InfoLog << "fileCount = " << fileCount << std::endl;
if (fileCount < 2)
{
return;
}
//int groupSize = 45;
int groupCount = fileCount / groupSize;
if (fileCount % groupSize > 5)
{
groupCount++;
}
for (int groupId = 0; groupId < groupCount; groupId++)
{
ClearPointCloudList();
std::vector<GPP::Matrix4x4> initTransformList;
initTransformList.reserve(fileCount);
GPP::PointCloud* lastPointCloud = NULL;
GPP::Matrix4x4 transformAcc;
transformAcc.InitIdentityTransform();
int startFileId = groupId * groupSize;
int endFileId = startFileId + groupSize;
endFileId = endFileId > fileCount ? fileCount : endFileId;
for (int depthId = startFileId; depthId < endFileId; depthId++)
{
GPP::PointCloud* curPointCloud = GPP::Parser::ImportPointCloud(fileNames.at(depthId));
if (curPointCloud == NULL || curPointCloud->GetPointCount() < 10000)
{
InfoLog << "Point Cloud " << depthId << " Import failed" << std::endl;
continue;
}
GPP::PointCloud* originPointCloud = GPP::CopyPointCloud(curPointCloud);
// Align point cloud
if (lastPointCloud != NULL)
{
int curPointCount = curPointCloud->GetPointCount();
for (int pid = 0; pid < curPointCount; pid++)
{
curPointCloud->SetPointCoord(pid, transformAcc.TransformPoint(curPointCloud->GetPointCoord(pid)));
curPointCloud->SetPointNormal(pid, transformAcc.RotateVector(curPointCloud->GetPointNormal(pid)));
}
GPP::Matrix4x4 transformLocal;
transformLocal.InitIdentityTransform();
GPP::ErrorCode res = GPP::RegistratePointCloud::AlignPointCloud(lastPointCloud, curPointCloud, &transformLocal,
1000);
if (res != GPP_NO_ERROR)
{
InfoLog << "Point Cloud " << depthId << " AlignPointCloud failed" << std::endl;
GPPFREEPOINTER(curPointCloud);
GPPFREEPOINTER(originPointCloud);
continue;
}
else
{
for (int pid = 0; pid < curPointCount; pid++)
{
curPointCloud->SetPointCoord(pid, transformLocal.TransformPoint(curPointCloud->GetPointCoord(pid)));
curPointCloud->SetPointNormal(pid, transformLocal.RotateVector(curPointCloud->GetPointNormal(pid)));
}
GPP::Matrix4x4 icpLocal;
icpLocal.InitIdentityTransform();
res = GPP::RegistratePointCloud::ICPRegistrate(lastPointCloud, NULL, curPointCloud, NULL,
&icpLocal, NULL, true);
if (res == GPP_NO_ERROR)
{
for (int pid = 0; pid < curPointCount; pid++)
{
curPointCloud->SetPointCoord(pid, icpLocal.TransformPoint(curPointCloud->GetPointCoord(pid)));
curPointCloud->SetPointNormal(pid, icpLocal.RotateVector(curPointCloud->GetPointNormal(pid)));
}
transformLocal = icpLocal * transformLocal;
}
else
{
InfoLog << "Point Cloud " << depthId << " ICPRegistrate failed" << std::endl;
GPPFREEPOINTER(curPointCloud);
GPPFREEPOINTER(originPointCloud);
continue;
}
transformAcc = transformLocal * transformAcc;
}
}
GPPFREEPOINTER(lastPointCloud);
lastPointCloud = curPointCloud;
mPointCloudList.push_back(originPointCloud);
initTransformList.push_back(transformAcc);
// Export point cloud
std::string inputModelName = fileNames.at(depthId);
size_t dotPos = inputModelName.rfind('.');
std::stringstream dumpStream;
dumpStream << inputModelName.substr(0, dotPos) << "_align.asc";
std::string outputModelName;
dumpStream >> outputModelName;
GPP::Parser::ExportPointCloud(outputModelName, curPointCloud);
mProgressValue = int(depthId * 100.0 / fileCount);
mUpdateUIScrollBar = true;
mUpdatePointCloudListRendering = true;
}
GPPFREEPOINTER(lastPointCloud);
if (mPointCloudList.size() < 2)
{
MessageBox(NULL, "³õʼƴ½Óʧ°Ü", "ÎÂÜ°Ìáʾ", MB_OK);
return;
}
//mProgressValue = -1;
// Global registrate
std::vector<GPP::IPointCloud*> pointCloudList;
for (std::vector<GPP::PointCloud*>::iterator itr = mPointCloudList.begin(); itr != mPointCloudList.end(); ++itr)
{
pointCloudList.push_back(*itr);
}
std::vector<GPP::Matrix4x4> resultTransform;
GPP::ErrorCode res = GPP::RegistratePointCloud::GlobalRegistrate(&pointCloudList, 10, &resultTransform,
&initTransformList, true, 0);
if (res != GPP_NO_ERROR)
{
MessageBox(NULL, "È«¾Ö×¢²áʧ°Ü", "ÎÂÜ°Ìáʾ", MB_OK);
return;
}
int cloudCount = mPointCloudList.size();
// Fuse point cloud
GPP::Vector3 bboxMin, bboxMax;
res = GPP::CalculatePointCloudListBoundingBox(pointCloudList, &resultTransform, bboxMin, bboxMax);
if (res != GPP_NO_ERROR)
{
MessageBox(NULL, "°üΧºÐ¼ÆËãʧ°Ü", "ÎÂÜ°Ìáʾ", MB_OK);
return;
}
GPP::Vector3 deltaVec(0.1, 0.1, 0.1);
bboxMin -= deltaVec;
bboxMax += deltaVec;
GPP::PointCloudPointList pointList(pointCloudList.at(0));
double epsilon = 0;
res = GPP::CalculatePointListDensity(&pointList, 4, epsilon);
int resolutionX = int((bboxMax[0] - bboxMin[0]) / epsilon) + 1;
int resolutionY = int((bboxMax[1] - bboxMin[1]) / epsilon) + 1;
int resolutionZ = int((bboxMax[2] - bboxMin[2]) / epsilon) + 1;
InfoLog << "epsilon=" << epsilon << " resX=" << resolutionX << " resY=" << resolutionY << " resZ=" << resolutionZ << std::endl;
GPP::SignedDistanceFunction sdf(resolutionX, resolutionY, resolutionZ, bboxMin, bboxMax);
for (int cid = 0; cid < cloudCount; cid++)
{
//mProgressValue = int(cid * 100.0 / cloudCount);
res = sdf.UpdateFunction(pointCloudList.at(cid), &(resultTransform.at(cid)));
if (res != GPP_NO_ERROR)
{
MessageBox(NULL, "µãÔÆÈÚºÏʧ°Ü", "ÎÂÜ°Ìáʾ", MB_OK);
return;
}
}
GPP::PointCloud* fusedPointCloud = new GPP::PointCloud;
res = sdf.ExtractPointCloud(fusedPointCloud);
if (res != GPP_NO_ERROR)
{
MessageBox(NULL, "µãÔÆÝÍȡʧ°Ü", "ÎÂÜ°Ìáʾ", MB_OK);
return;
}
mPointCloudList.push_back(fusedPointCloud);
mUpdateUIScrollBar = true;
mUpdatePointCloudListRendering = true;
// save result
std::stringstream outputStream;
outputStream << "fuse_res_" << groupId << ".asc";
std::string outputModelName;
outputStream >> outputModelName;
res = GPP::Parser::ExportPointCloud(outputModelName, fusedPointCloud);
if (res != GPP_NO_ERROR)
{
MessageBox(NULL, "µ¼³öµãÔÆʧ°Ü", "ÎÂÜ°Ìáʾ", MB_OK);
}
}
}
else
{
InfoLog << "Open file failed" << std::endl;
}
}
